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WO2020218804A3 - Slider-type wire driver for underactuation and glove-type wearable robot comprising same - Google Patents

Slider-type wire driver for underactuation and glove-type wearable robot comprising same Download PDF

Info

Publication number
WO2020218804A3
WO2020218804A3 PCT/KR2020/005275 KR2020005275W WO2020218804A3 WO 2020218804 A3 WO2020218804 A3 WO 2020218804A3 KR 2020005275 W KR2020005275 W KR 2020005275W WO 2020218804 A3 WO2020218804 A3 WO 2020218804A3
Authority
WO
WIPO (PCT)
Prior art keywords
type
underactuation
glove
slider
same
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2020/005275
Other languages
French (fr)
Korean (ko)
Other versions
WO2020218804A2 (en
Inventor
조규진
김병철
최형민
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SNU R&DB Foundation
Original Assignee
Seoul National University R&DB Foundation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020190112021A external-priority patent/KR102246500B1/en
Application filed by Seoul National University R&DB Foundation filed Critical Seoul National University R&DB Foundation
Publication of WO2020218804A2 publication Critical patent/WO2020218804A2/en
Publication of WO2020218804A3 publication Critical patent/WO2020218804A3/en
Priority to US17/506,689 priority Critical patent/US20220040845A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a slider-type wire driver for underactuation and a glove-type wearable robot comprising same and, more specifically, to a slider-type wire driver for underactuation and a glove-type wearable robot comprising same, wherein the wire driver has a structure appropriate for driving a robot in an underactuation type, and the structure is simple and enables effective operations. The slider-type wire driver for underactuation and the glove-type wearable robot comprising same, for the purpose of accomplishing the above-mentioned objective, are advantageous in that friction between a wire and components near the wire is effectively reduced, thereby facilitating operations of the underactuated robot and increasing the life thereof. In addition, the slider-type wire driver for underactuation and the glove-type wearable robot comprising same, according to the present invention, are advantageous in that an actuator for applying a tension to the wire for the purpose of underactuation can be fabricated at a low price.
PCT/KR2020/005275 2019-04-22 2020-04-22 Slider-type wire driver for underactuation and glove-type wearable robot comprising same Ceased WO2020218804A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/506,689 US20220040845A1 (en) 2019-04-22 2021-10-21 Slider-type wire driver for underactuation and glove-type wearable robot comprising same

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20190046621 2019-04-22
KR10-2019-0046621 2019-04-22
KR10-2019-0112021 2019-09-10
KR1020190112021A KR102246500B1 (en) 2019-04-22 2019-09-10 Slider Type Tendon Driven Actuator for Under-actuation and Glove Type Wearable Robot Having the Same

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/506,689 Continuation US20220040845A1 (en) 2019-04-22 2021-10-21 Slider-type wire driver for underactuation and glove-type wearable robot comprising same

Publications (2)

Publication Number Publication Date
WO2020218804A2 WO2020218804A2 (en) 2020-10-29
WO2020218804A3 true WO2020218804A3 (en) 2020-12-30

Family

ID=72941685

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2020/005275 Ceased WO2020218804A2 (en) 2019-04-22 2020-04-22 Slider-type wire driver for underactuation and glove-type wearable robot comprising same

Country Status (2)

Country Link
US (1) US20220040845A1 (en)
WO (1) WO2020218804A2 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114795848A (en) * 2022-05-25 2022-07-29 安徽法罗适医疗技术有限公司 Opposite-insertion type replacing device for wire-driven rehabilitation training gloves
CN115635473B (en) * 2022-10-17 2025-09-30 西安交通大学 A lasso transmission device for hand exoskeleton
CN119820606B (en) * 2025-02-21 2025-09-30 北京科技大学 Tensioning integral manipulator with selective differential mechanism

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20120012675A (en) * 2010-08-02 2012-02-10 서울대학교산학협력단 Armored robot
KR101510009B1 (en) * 2013-12-17 2015-04-07 현대자동차주식회사 Apparatus for driving wearable robot
KR20180057418A (en) * 2016-11-22 2018-05-30 대한민국(국립재활원장) Wearable Type Hand Robot
KR101934834B1 (en) * 2017-10-25 2019-01-04 재단법인대구경북과학기술원 Tendon device for wearable robot

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT338410B (en) * 1975-09-18 1977-08-25 Viennatone Gmbh TRANSMISSION FOR AN ORTHESIS, PROSTHESIS OR DGL.
US8814460B2 (en) * 2011-12-07 2014-08-26 Bioservo Technologies Ab Cable connector
KR101793906B1 (en) * 2015-11-13 2017-11-07 대한민국 Wearable Type Hand Robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20120012675A (en) * 2010-08-02 2012-02-10 서울대학교산학협력단 Armored robot
KR101510009B1 (en) * 2013-12-17 2015-04-07 현대자동차주식회사 Apparatus for driving wearable robot
KR20180057418A (en) * 2016-11-22 2018-05-30 대한민국(국립재활원장) Wearable Type Hand Robot
KR101934834B1 (en) * 2017-10-25 2019-01-04 재단법인대구경북과학기술원 Tendon device for wearable robot

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
MUHAMMAD KHAN, MANFREDI LUIGI, VELSINK FLORIEN, HUAN YU, CUSCHIERI ALFRED: "Analysis of performance and energy efficiency of thin shape memory alloy wire-based actuators", ACTUATOR 16 : 15TH INTERNATIONAL CONFERENCE ON NEW ACTUATORS & 9TH INTERNATIONAL EXHIBITION ON SMART ACTUATORS AND DRIVE SYSTEMS, WFB WIRTSCHAFTSFÖRDERUNG BREMEN GMBH, BREMEN, GERMANY, 13 June 2016 (2016-06-13) - 15 June 2015 (2015-06-15), Bremen, Germany, XP055767934, ISBN: 978-3-933339-26-3 *

Also Published As

Publication number Publication date
WO2020218804A2 (en) 2020-10-29
US20220040845A1 (en) 2022-02-10

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